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<div class="title">global_nn_recognizer_crh.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * global_nn_classifier.cpp</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 9, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_crh.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/crh_alignment.h&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/icp.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;boost/random.hpp&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;boost/random/normal_distribution.hpp&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer&lt;Distance, PointInT, FeatureT&gt;::getPose</a> (ModelT &amp; model, <span class="keywordtype">int</span> view_id, Eigen::Matrix4f &amp; pose_matrix)</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  {</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keywordflow">if</span> (use_cache_)</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      <span class="keyword">typedef</span> std::pair&lt;std::string, int&gt; mv_pair;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      mv_pair pair_model_view = std::make_pair (model.id_, view_id);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      std::map&lt;mv_pair, Eigen::Matrix4f, std::less&lt;mv_pair&gt;, Eigen::aligned_allocator&lt;std::pair&lt;mv_pair, Eigen::Matrix4f&gt; &gt; &gt;::iterator it =</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;          poses_cache_.find (pair_model_view);</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      <span class="keywordflow">if</span> (it != poses_cache_.end ())</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      {</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        pose_matrix = it-&gt;second;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      }</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    std::stringstream dir;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    std::string path = source_-&gt;getModelDescriptorDir (model, training_dir_, descr_name_);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    dir &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/pose_&quot;</span> &lt;&lt; view_id &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    PersistenceUtils::readMatrixFromFile (dir.str (), pose_matrix);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  }</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer&lt;Distance, PointInT, FeatureT&gt;::getCRH</a> (ModelT &amp; model, <span class="keywordtype">int</span> view_id, <span class="keywordtype">int</span> d_id,</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                                                                                      CRHPointCloud::Ptr &amp; hist)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    hist.reset (<span class="keyword">new</span> CRHPointCloud);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    std::stringstream dir;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    std::string path = source_-&gt;getModelDescriptorDir (model, training_dir_, descr_name_);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    dir &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/crh_&quot;</span> &lt;&lt; view_id &lt;&lt; <span class="stringliteral">&quot;_&quot;</span> &lt;&lt; d_id &lt;&lt; <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    pcl::io::loadPCDFile (dir.str (), *hist);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  }</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer&lt;Distance, PointInT, FeatureT&gt;::getCentroid</a> (ModelT &amp; model, <span class="keywordtype">int</span> view_id, <span class="keywordtype">int</span> d_id,</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                                                                                           Eigen::Vector3f &amp; centroid)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    std::stringstream dir;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    std::string path = source_-&gt;getModelDescriptorDir (model, training_dir_, descr_name_);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    dir &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/centroid_&quot;</span> &lt;&lt; view_id &lt;&lt; <span class="stringliteral">&quot;_&quot;</span> &lt;&lt; d_id &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    PersistenceUtils::getCentroidFromFile (dir.str (), centroid);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  }</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer&lt;Distance, PointInT, FeatureT&gt;::getView</a> (ModelT &amp; model, <span class="keywordtype">int</span> view_id, PointInTPtr &amp; view)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    view.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    std::stringstream dir;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    std::string path = source_-&gt;getModelDescriptorDir (model, training_dir_, descr_name_);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    dir &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/view_&quot;</span> &lt;&lt; view_id &lt;&lt; <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    pcl::io::loadPCDFile (dir.str (), *view);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer&lt;Distance, PointInT, FeatureT&gt;::loadFeaturesAndCreateFLANN</a> ()</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    boost::shared_ptr &lt; std::vector&lt;ModelT&gt; &gt; models = source_-&gt;getModels ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models-&gt;size (); i++)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      std::string path = source_-&gt;getModelDescriptorDir (models-&gt;at (i), training_dir_, descr_name_);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      bf::path inside = path;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      bf::directory_iterator end_itr;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordflow">for</span> (bf::directory_iterator itr_in (inside); itr_in != end_itr; ++itr_in)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="preprocessor">#if BOOST_FILESYSTEM_VERSION == 3</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        std::string file_name = (itr_in-&gt;path ().filename ()).<span class="keywordtype">string</span>();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        std::string file_name = (itr_in-&gt;path ()).filename ();</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        std::vector &lt; std::string &gt; strs;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        boost::split (strs, file_name, boost::is_any_of (<span class="stringliteral">&quot;_&quot;</span>));</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordflow">if</span> (strs[0] == <span class="stringliteral">&quot;descriptor&quot;</span>)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="keywordtype">int</span> view_id = atoi (strs[1].c_str ());</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          std::vector &lt; std::string &gt; strs1;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          boost::split (strs1, strs[2], boost::is_any_of (<span class="stringliteral">&quot;.&quot;</span>));</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          <span class="keywordtype">int</span> descriptor_id = atoi (strs1[0].c_str ());</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          std::string full_file_name = itr_in-&gt;path ().string ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::Ptr signature (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a>);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          pcl::io::loadPCDFile (full_file_name, *signature);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          flann_model descr_model;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          descr_model.model = models-&gt;at (i);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          descr_model.view_id = view_id;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          descr_model.descriptor_id = descriptor_id;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <span class="keywordtype">int</span> size_feat = <span class="keyword">sizeof</span>(signature-&gt;points[0].histogram) / <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          descr_model.descr.resize (size_feat);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          memcpy (&amp;descr_model.descr[0], &amp;signature-&gt;points[0].histogram[0], size_feat * <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          flann_models_.push_back (descr_model);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          <span class="keywordflow">if</span> (use_cache_)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            std::stringstream dir_pose;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            dir_pose &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/pose_&quot;</span> &lt;&lt; descr_model.view_id &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;            Eigen::Matrix4f pose_matrix;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            PersistenceUtils::readMatrixFromFile (dir_pose.str (), pose_matrix);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            std::pair&lt;std::string, int&gt; pair_model_view = std::make_pair (models-&gt;at (i).id_, descr_model.view_id);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            poses_cache_[pair_model_view] = pose_matrix;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    convertToFLANN (flann_models_, flann_data_);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    flann_index_ = <span class="keyword">new</span> <a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> (flann_data_, flann::LinearIndexParams ());</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    flann_index_-&gt;buildIndex ();</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer&lt;Distance, PointInT, FeatureT&gt;::nearestKSearch</a> (<a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> * index, <span class="keyword">const</span> flann_model &amp;model,</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                                                                                              <span class="keywordtype">int</span> k, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> &amp;indices,</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                                                                                              <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;distances)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> p = <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> (<span class="keyword">new</span> <span class="keywordtype">float</span>[model.descr.size ()], 1, model.descr.size ());</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    memcpy (&amp;p.ptr ()[0], &amp;model.descr[0], p.cols * p.rows * <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    indices = <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> (<span class="keyword">new</span> <span class="keywordtype">int</span>[k], 1, k);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    distances = <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> (<span class="keyword">new</span> <span class="keywordtype">float</span>[k], 1, k);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    index-&gt;knnSearch (p, indices, distances, k, flann::SearchParams (512));</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keyword">delete</span>[] p.ptr ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html#a66bbe0bd8a8d63b6d5ce040344ff6c89">  164</a></span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html#a66bbe0bd8a8d63b6d5ce040344ff6c89">pcl::rec_3d_framework::GlobalNNCRHRecognizer&lt;Distance, PointInT, FeatureT&gt;::recognize</a> ()</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    models_.reset (<span class="keyword">new</span> std::vector&lt;ModelT&gt;);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    transforms_.reset (<span class="keyword">new</span> std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt;);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    PointInTPtr processed (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    PointInTPtr in (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    std::vector&lt;pcl::PointCloud&lt;FeatureT&gt;, Eigen::aligned_allocator&lt;pcl::PointCloud&lt;FeatureT&gt; &gt; &gt; signatures;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    std::vector &lt; Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; centroids;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">if</span> (indices_.size ())</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*input_, indices_, *in);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      in = input_;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;Estimate feature&quot;</span>);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      crh_estimator_-&gt;estimate (in, processed, signatures, centroids);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    std::vector&lt;CRHPointCloud::Ptr&gt; crh_histograms;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    crh_estimator_-&gt;getCRHHistograms (crh_histograms);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    std::vector&lt;index_score&gt; indices_scores;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">if</span> (signatures.size () &gt; 0)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t_matching (<span class="stringliteral">&quot;Matching and roll...&quot;</span>);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; signatures.size (); idx++)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          <span class="keywordtype">float</span>* hist = signatures[idx].points[0].histogram;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordtype">int</span> size_feat = <span class="keyword">sizeof</span>(signatures[idx].points[0].histogram) / <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          std::vector&lt;float&gt; std_hist (hist, hist + size_feat);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> empty;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_1_1flann__model.html">flann_model</a> histogram;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          histogram.descr = std_hist;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> indices;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> distances;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          nearestKSearch (flann_index_, histogram, NN_, indices, distances);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          <span class="comment">//gather NN-search results</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          <span class="keywordtype">double</span> score = 0;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; NN_; ++i)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;            score = distances[0][i];</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            <a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_1_1index__score.html">index_score</a> is;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            is.idx_models_ = indices[0][i];</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            is.idx_input_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (idx);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            is.score_ = score;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;            indices_scores.push_back (is);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        std::sort (indices_scores.begin (), indices_scores.end (), sortIndexScoresOp);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordtype">int</span> num_n = std::min (NN_, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_scores.size ()));</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="comment">/*</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="comment">         * Filter some hypothesis regarding to their distance to the first neighbour</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="comment">/*std::vector&lt;index_score&gt; indices_scores_filtered;</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="comment">        indices_scores_filtered.resize (num_n);</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="comment">        indices_scores_filtered[0] = indices_scores[0];</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="comment">        float best_score = indices_scores[0].score_;</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="comment">        int kept = 1;</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="comment">        for (int i = 1; i &lt; num_n; ++i)</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="comment">        {</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">          std::cout &lt;&lt; best_score &lt;&lt; indices_scores[i].score_ &lt;&lt; (best_score / indices_scores[i].score_) &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment">          if ((best_score / indices_scores[i].score_) &gt; 0.75)</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">          {</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="comment">            indices_scores_filtered[i] = indices_scores[i];</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="comment">            kept++;</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="comment">          }</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="comment">          //best_score = indices_scores[i].score_;</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="comment">        }</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment">        indices_scores_filtered.resize (kept);</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="comment">        std::cout &lt;&lt; indices_scores_filtered.size () &lt;&lt; &quot; § &quot; &lt;&lt; num_n &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="comment">        indices_scores = indices_scores_filtered;</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="comment">        num_n = indices_scores.size ();*/</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="keywordflow">if</span> (do_CRH_)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        {</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          <span class="comment">/*</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="comment">           * Once we have the models, we need to find a 6DOF pose using the roll histogram</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="comment">           * pass to pcl_recognition::CRHAlignment both views, centroids and CRH</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="comment">           */</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          <a class="code" href="classpcl_1_1_c_r_h_alignment.html">pcl::CRHAlignment&lt;PointInT, 90&gt;</a> crha;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_n; ++i)</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          {</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;            <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> m = flann_models_[indices_scores[i].idx_models_].model;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;            <span class="keywordtype">int</span> view_id = flann_models_[indices_scores[i].idx_models_].view_id;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;            <span class="keywordtype">int</span> desc_id = flann_models_[indices_scores[i].idx_models_].descriptor_id;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;            std::cout &lt;&lt; m.id_ &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; view_id &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; desc_id &lt;&lt; std::endl;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;            <span class="comment">//get crhs</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;            CRHPointCloud::Ptr input_crh = crh_histograms[indices_scores[i].idx_input_];</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;            CRHPointCloud::Ptr view_crh;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;            getCRH (m, view_id, desc_id, view_crh);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;            <span class="comment">//get centroids</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            Eigen::Vector3f input_centroid = centroids[indices_scores[i].idx_input_];</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;            Eigen::Vector3f view_centroid;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;            getCentroid (m, view_id, desc_id, view_centroid);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            <span class="comment">//crha.setModelAndInputView (view, processed);</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            crha.<a class="code" href="classpcl_1_1_c_r_h_alignment.html#a3035ec22c3d01de1b2bf7a14c78213ab">setInputAndTargetCentroids</a> (view_centroid, input_centroid);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            crha.<a class="code" href="classpcl_1_1_c_r_h_alignment.html#a32c40356d56e22d48eccce5e27e436f2">align</a> (*view_crh, *input_crh);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            Eigen::Matrix4f model_view_pose;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;            getPose (m, view_id, model_view_pose);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;            std::vector &lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; roll_transforms;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;            crha.<a class="code" href="classpcl_1_1_c_r_h_alignment.html#ad25e7de96ca4c5c55d87dc3bacf804ca">getTransforms</a> (roll_transforms);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;            <span class="comment">//create object hypothesis</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; roll_transforms.size (); k++)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;            {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;              Eigen::Matrix4f final_roll_trans (roll_transforms[k] * model_view_pose);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;              models_-&gt;push_back (m);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;              transforms_-&gt;push_back (final_roll_trans);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;            }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;          }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_n; ++i)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> m = flann_models_[indices_scores[i].idx_models_].model;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;            models_-&gt;push_back (m);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      std::cout &lt;&lt; <span class="stringliteral">&quot;Number of object hypotheses:&quot;</span> &lt;&lt; models_-&gt;size () &lt;&lt; std::endl;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keywordflow">if</span> (ICP_iterations_ &gt; 0)</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      {</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;Pose refinement&quot;</span>);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="comment">//Prepare scene and model clouds for the pose refinement step</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="keywordtype">float</span> VOXEL_SIZE_ICP_ = 0.005f;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        PointInTPtr cloud_voxelized_icp (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> ());</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;PointInT&gt;</a> voxel_grid_icp;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        voxel_grid_icp.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (processed);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        voxel_grid_icp.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (VOXEL_SIZE_ICP_, VOXEL_SIZE_ICP_, VOXEL_SIZE_ICP_);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        voxel_grid_icp.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*cloud_voxelized_icp);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        source_-&gt;voxelizeAllModels (VOXEL_SIZE_ICP_);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(omp_get_num_procs())</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; static_cast&lt;int&gt; (models_-&gt;size ()); i++)</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        {</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;          ConstPointInTPtr model_cloud = models_-&gt;at (i).getAssembled (VOXEL_SIZE_ICP_);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;          PointInTPtr model_aligned (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;          <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (*model_cloud, *model_aligned, transforms_-&gt;at (i));</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;          <a class="code" href="classpcl_1_1_iterative_closest_point.html">pcl::IterativeClosestPoint&lt;PointInT, PointInT&gt;</a> reg;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          reg.<a class="code" href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">setInputSource</a> (model_aligned); <span class="comment">//model</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          reg.<a class="code" href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">setInputTarget</a> (cloud_voxelized_icp); <span class="comment">//scene</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          reg.<a class="code" href="classpcl_1_1_registration.html#a3844d186f7a99d15464368e0f25635ed">setMaximumIterations</a> (ICP_iterations_);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          reg.<a class="code" href="classpcl_1_1_registration.html#a65596dcc3cb5d2647857226fb3d999a5">setMaxCorrespondenceDistance</a> (VOXEL_SIZE_ICP_ * 3.f);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;          reg.<a class="code" href="classpcl_1_1_registration.html#aec74ab878cca8d62fd1be9942685a8c1">setTransformationEpsilon</a> (1e-5);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr output_ (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> ());</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;          reg.<a class="code" href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">align</a> (*output_);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;          Eigen::Matrix4f icp_trans = reg.<a class="code" href="classpcl_1_1_registration.html#a1e68bd39ac943131dcbf1431f9afe3f3">getFinalTransformation</a> ();</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;          transforms_-&gt;at (i) = icp_trans * transforms_-&gt;at (i);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keywordflow">if</span> (hv_algorithm_)</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      {</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;HYPOTHESES VERIFICATION&quot;</span>);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        std::vector&lt;typename pcl::PointCloud&lt;PointInT&gt;::ConstPtr&gt; aligned_models;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        aligned_models.resize (models_-&gt;size ());</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models_-&gt;size (); i++)</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;          ConstPointInTPtr model_cloud = models_-&gt;at (i).getAssembled (0.005f);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;          PointInTPtr model_aligned (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;          <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (*model_cloud, *model_aligned, transforms_-&gt;at (i));</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          aligned_models[i] = model_aligned;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        }</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        std::vector&lt;bool&gt; mask_hv;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        hv_algorithm_-&gt;setSceneCloud (input_);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        hv_algorithm_-&gt;addModels (aligned_models, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        hv_algorithm_-&gt;verify ();</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        hv_algorithm_-&gt;getMask (mask_hv);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        boost::shared_ptr &lt; std::vector&lt;ModelT&gt; &gt; models_temp;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        boost::shared_ptr &lt; std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &gt; transforms_temp;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        models_temp.reset (<span class="keyword">new</span> std::vector&lt;ModelT&gt;);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        transforms_temp.reset (<span class="keyword">new</span> std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt;);</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models_-&gt;size (); i++)</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        {</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;          <span class="keywordflow">if</span> (!mask_hv[i])</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;          models_temp-&gt;push_back (models_-&gt;at (i));</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;          transforms_temp-&gt;push_back (transforms_-&gt;at (i));</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        }</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        models_ = models_temp;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        transforms_ = transforms_temp;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    }</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  }</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html#ab025e8f0c59d072c65bdf61f9296d9db">  403</a></span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html#ab025e8f0c59d072c65bdf61f9296d9db">pcl::rec_3d_framework::GlobalNNCRHRecognizer&lt;Distance, PointInT, FeatureT&gt;::initialize</a> (<span class="keywordtype">bool</span> force_retrain)</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    <span class="comment">//use the source to know what has to be trained and what not, checking if the descr_name directory exists</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <span class="comment">//unless force_retrain is true, then train everything</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    boost::shared_ptr &lt; std::vector&lt;ModelT&gt; &gt; models = source_-&gt;getModels ();</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Models size:&quot;</span> &lt;&lt; models-&gt;size () &lt;&lt; std::endl;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">if</span> (force_retrain)</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    {</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models-&gt;size (); i++)</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      {</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        source_-&gt;removeDescDirectory (models-&gt;at (i), training_dir_, descr_name_);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      }</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    }</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models-&gt;size (); i++)</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    {</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <span class="keywordflow">if</span> (!source_-&gt;modelAlreadyTrained (models-&gt;at (i), training_dir_, descr_name_))</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> v = 0; v &lt; models-&gt;at (i).views_-&gt;size (); v++)</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        {</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;          PointInTPtr processed (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;          PointInTPtr view = models-&gt;at (i).views_-&gt;at (v);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;          <span class="keywordflow">if</span> (noisify_)</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          {</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;            <span class="keywordtype">double</span> noise_std = noise_;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;            boost::posix_time::ptime time = boost::posix_time::microsec_clock::local_time();</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;            boost::posix_time::time_duration duration( time.time_of_day() );</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;            boost::mt19937 rng;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;            rng.seed (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (duration.total_milliseconds()));</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;            boost::normal_distribution&lt;&gt; nd (0.0, noise_std);</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;            boost::variate_generator&lt;boost::mt19937&amp;, boost::normal_distribution&lt;&gt; &gt; var_nor (rng, nd);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;            <span class="comment">// Noisify each point in the dataset</span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cp = 0; cp &lt; view-&gt;points.size (); ++cp)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;              view-&gt;points[cp].z += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (var_nor ());</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;          }</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;          <span class="comment">//pro view, compute signatures and CRH</span></div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;          std::vector&lt;pcl::PointCloud&lt;FeatureT&gt;, Eigen::aligned_allocator&lt;pcl::PointCloud&lt;FeatureT&gt; &gt; &gt; signatures;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;          std::vector &lt; Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; centroids;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;          crh_estimator_-&gt;estimate (view, processed, signatures, centroids);</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          std::string path = source_-&gt;getModelDescriptorDir (models-&gt;at (i), training_dir_, descr_name_);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          bf::path desc_dir = path;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;          <span class="keywordflow">if</span> (!bf::exists (desc_dir))</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;            bf::create_directory (desc_dir);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;          std::stringstream path_view;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;          path_view &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/view_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;          pcl::io::savePCDFileBinary (path_view.str (), *processed);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;          std::stringstream path_pose;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;          path_pose &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/pose_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;          PersistenceUtils::writeMatrixToFile (path_pose.str (), models-&gt;at (i).poses_-&gt;at (v));</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;          std::stringstream path_entropy;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;          path_entropy &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/entropy_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;          PersistenceUtils::writeFloatToFile (path_entropy.str (), models-&gt;at (i).self_occlusions_-&gt;at (v));</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          std::vector&lt;CRHPointCloud::Ptr&gt; crh_histograms;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          crh_estimator_-&gt;getCRHHistograms (crh_histograms);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;          <span class="comment">//save signatures and centroids to disk</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; signatures.size (); j++)</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;          {</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;            std::stringstream path_centroid;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;            path_centroid &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/centroid_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;_&quot;</span> &lt;&lt; j &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;            Eigen::Vector3f centroid (centroids[j][0], centroids[j][1], centroids[j][2]);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;            PersistenceUtils::writeCentroidToFile (path_centroid.str (), centroid);</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;            std::stringstream path_descriptor;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;            path_descriptor &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/descriptor_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;_&quot;</span> &lt;&lt; j &lt;&lt; <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            pcl::io::savePCDFileBinary (path_descriptor.str (), signatures[j]);</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;            std::stringstream path_roll;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;            path_roll &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/crh_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;_&quot;</span> &lt;&lt; j &lt;&lt; <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            pcl::io::savePCDFileBinary (path_roll.str (), *crh_histograms[j]);</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;          }</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        }</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      }</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      {</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="comment">//else skip model</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;The model has already been trained...&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;      }</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    }</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="comment">//load features from disk</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    <span class="comment">//initialize FLANN structure</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    loadFeaturesAndCreateFLANN ();</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  }</div>
<div class="ttc" id="aclassflann_1_1_index_html"><div class="ttname"><a href="classflann_1_1_index.html">flann::Index&lt; DistT &gt;</a></div></div>
<div class="ttc" id="aclassflann_1_1_matrix_html"><div class="ttname"><a href="classflann_1_1_matrix.html">flann::Matrix</a></div><div class="ttdef"><b>Definition:</b> flann_search.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html">pcl::CRHAlignment</a></div><div class="ttdoc">CRHAlignment uses two Camera Roll Histograms (CRH) to find the roll rotation that aligns both views....</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:32</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a3035ec22c3d01de1b2bf7a14c78213ab"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a3035ec22c3d01de1b2bf7a14c78213ab">pcl::CRHAlignment::setInputAndTargetCentroids</a></div><div class="ttdeci">void setInputAndTargetCentroids(Eigen::Vector3f &amp;c1, Eigen::Vector3f &amp;c2)</div><div class="ttdoc">sets model and input centroids</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_a32c40356d56e22d48eccce5e27e436f2"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#a32c40356d56e22d48eccce5e27e436f2">pcl::CRHAlignment::align</a></div><div class="ttdeci">void align(pcl::PointCloud&lt; pcl::Histogram&lt; nbins_ &gt; &gt; &amp;input_ftt, pcl::PointCloud&lt; pcl::Histogram&lt; nbins_ &gt; &gt; &amp;target_ftt)</div><div class="ttdoc">Computes the transformation aligning model to input</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:147</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_alignment_html_ad25e7de96ca4c5c55d87dc3bacf804ca"><div class="ttname"><a href="classpcl_1_1_c_r_h_alignment.html#ad25e7de96ca4c5c55d87dc3bacf804ca">pcl::CRHAlignment::getTransforms</a></div><div class="ttdeci">void getTransforms(std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; &amp;transforms)</div><div class="ttdoc">returns the computed transformations</div><div class="ttdef"><b>Definition:</b> crh_alignment.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html">pcl::IterativeClosestPoint</a></div><div class="ttdoc">IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm....</div><div class="ttdef"><b>Definition:</b> icp.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a8876f743cc31471a975e950e66c179d4"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">pcl::IterativeClosestPoint::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> icp.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_ad5215429e057c8760ac48e9bdb09b12c"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">pcl::IterativeClosestPoint::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> icp.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e68bd39ac943131dcbf1431f9afe3f3"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e68bd39ac943131dcbf1431f9afe3f3">pcl::Registration::getFinalTransformation</a></div><div class="ttdeci">Matrix4 getFinalTransformation()</div><div class="ttdoc">Get the final transformation matrix estimated by the registration method.</div><div class="ttdef"><b>Definition:</b> registration.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a3844d186f7a99d15464368e0f25635ed"><div class="ttname"><a href="classpcl_1_1_registration.html#a3844d186f7a99d15464368e0f25635ed">pcl::Registration::setMaximumIterations</a></div><div class="ttdeci">void setMaximumIterations(int nr_iterations)</div><div class="ttdoc">Set the maximum number of iterations the internal optimization should run for.</div><div class="ttdef"><b>Definition:</b> registration.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a65596dcc3cb5d2647857226fb3d999a5"><div class="ttname"><a href="classpcl_1_1_registration.html#a65596dcc3cb5d2647857226fb3d999a5">pcl::Registration::setMaxCorrespondenceDistance</a></div><div class="ttdeci">void setMaxCorrespondenceDistance(double distance_threshold)</div><div class="ttdoc">Set the maximum distance threshold between two correspondent points in source &lt;-&gt; target....</div><div class="ttdef"><b>Definition:</b> registration.h:321</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a96212303ca16b6d60020824086887c4f"><div class="ttname"><a href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">pcl::Registration::align</a></div><div class="ttdeci">void align(PointCloudSource &amp;output)</div><div class="ttdoc">Call the registration algorithm which estimates the transformation and returns the transformed source...</div><div class="ttdef"><b>Definition:</b> registration.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_aec74ab878cca8d62fd1be9942685a8c1"><div class="ttname"><a href="classpcl_1_1_registration.html#aec74ab878cca8d62fd1be9942685a8c1">pcl::Registration::setTransformationEpsilon</a></div><div class="ttdeci">void setTransformationEpsilon(double epsilon)</div><div class="ttdoc">Set the transformation epsilon (maximum allowable difference between two consecutive transformations)...</div><div class="ttdef"><b>Definition:</b> registration.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1_scope_time_html"><div class="ttname"><a href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a></div><div class="ttdoc">Class to measure the time spent in a scope</div><div class="ttdef"><b>Definition:</b> time.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_1_1flann__model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_1_1flann__model.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer::flann_model</a></div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_crh.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer</a></div><div class="ttdoc">Nearest neighbor search based classification of PCL point type features. FLANN is used to identify a ...</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_crh.h:33</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_html_a66bbe0bd8a8d63b6d5ce040344ff6c89"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html#a66bbe0bd8a8d63b6d5ce040344ff6c89">pcl::rec_3d_framework::GlobalNNCRHRecognizer::recognize</a></div><div class="ttdeci">void recognize()</div><div class="ttdoc">Performs recognition on the input cloud</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_crh.hpp:164</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_html_ab025e8f0c59d072c65bdf61f9296d9db"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer.html#ab025e8f0c59d072c65bdf61f9296d9db">pcl::rec_3d_framework::GlobalNNCRHRecognizer::initialize</a></div><div class="ttdeci">void initialize(bool force_retrain=false)</div><div class="ttdoc">Initializes the FLANN structure from the provided source</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_crh.hpp:403</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_model.html">pcl::rec_3d_framework::Model&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="astructpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_1_1index__score_html"><div class="ttname"><a href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_r_h_recognizer_1_1index__score.html">pcl::rec_3d_framework::GlobalNNCRHRecognizer::index_score</a></div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_crh.h:38</div></div>
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